cmake_minimum_required(VERSION 3.8)
project(arm_grasp_cpp)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)# MoveGroupInterface
find_package(moveit_core REQUIRED)# RobotModel, RobotTrajectory

# find_package(moveit_ros_planning REQUIRED)# RobotModelLoader
find_package(geometry_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)   

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# 添加可执行文件
add_executable(arm_test1 src/arm_test1.cpp)
add_executable(arm_follow_point src/arm_follow_point.cpp)
add_executable(arm_trajectory_execute src/arm_trajectory_execute.cpp)
# 为可执行文件指定依赖
ament_target_dependencies( arm_test1
  rclcpp
  moveit_core
  moveit_ros_planning_interface
  moveit_ros_planning
  moveit_msgs
  geometry_msgs
)
ament_target_dependencies( arm_follow_point
  rclcpp
  # moveit_core
  moveit_ros_planning_interface
  # moveit_ros_planning
  # moveit_msgs
  geometry_msgs
  tf2_geometry_msgs 
)
ament_target_dependencies( arm_trajectory_execute
  rclcpp
  moveit_ros_planning_interface
  moveit_msgs
  geometry_msgs
  moveit_core
  # moveit_ros_planning
)
# 安装可执行文件
install(TARGETS
  arm_test1
  arm_follow_point
  arm_trajectory_execute
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()
